Related papers: Compliant Constant Output/ Input Force Mechanisms-…
A topology optimization method is presented for the design of periodic microstructured materials with prescribed homogenized nonlinear constitutive properties over finite strain ranges. The mechanical model assumes linear elastic isotropic…
A sharp stability analysis of atomistic-to-continuum coupling methods is essential for evaluating their capabilities for predicting the formation and motion of lattice defects. We formulate a simple one-dimensional model problem and give a…
This paper presents a convex optimization-based framework for synthesizing time-varying controlled invariant funnels and associated feedback control around a given nominal trajectory for nonlinear systems subject to bounded disturbances.…
Syntactic foams are composite materials frequently used in applications requiring the properties of low density and high damage tolerance. In the present work, polymer-based syntactic foams were studied under cyclic compression in order to…
The need for optimized structures with good mechanical performance for the minimum weight is common in industry. Solid Isotropic Material with Penalization (SIMP) is a Topology Optimization (TO) method offering a trade-off between minimum…
We developed a computational framework for simulating thin fluid flow in narrow interfaces between contacting solids, which is relevant for a range of engineering, biological and geophysical applications. The treatment of this problem…
We study interacting components and their compatibility with respect to synchronous and asynchronous composition. The behavior of components is formalized by I/O-transition systems. Synchronous composition is based on simultaneous execution…
We study the topological dynamics by iterations of a piecewise continuous, non linear and locally contractive map in a real finite dimensional compact ball. We consider those maps satisfying the "separation property": different continuity…
Topology optimization is used for the design of high-performance structures but remains fundamentally limited by its iterative nature, requiring repeated finite element analyses that prevent real-time deployment and large-scale design…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
The relationship between the macroscopic response of the slope and the macrostructure of the force chain network under the action of the metal plate was studied by the particle discrete element method and the persistent homology. The…
Topology optimization facilitates the automated design of high-performance structures across various engineering fields but, if unconstrained, often produces designs that are complex and difficult to manufacture. A key attribute of the…
In this paper, we present a robust and efficient unfitted concurrent multiscale method for continuum-continuum coupling, based on the Cut Finite Element Method (CutFEM). The computational domain is defined using approximate signed distance…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…
Impact of an intruder on granular matter leads to formation of mesoscopic force networks seen particularly clearly in the recent experiments carried out with photoelastic particles, e.g., Clark et al., Phys. Rev. Lett., 114 144502 (2015).…
Complex networks encountered in biology are often characterized by significant structural diversity. Whether it be differences in the three-dimensional structure of allosteric proteins, or the variation among the micro-scale structures of…
Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray grippers, it still remains challenging to build a bidirectional mathematical model that mutually…
In this article, we present a new unified finite element method (UFEM) for simulation of general Fluid-Structure interaction (FSI) which has the same generality and robustness as monolithic methods but is significantly more computationally…
We propose a methodology to analyze synchronization in an ensemble of diffusively coupled multistable systems. First, we study how two bidirectionally coupled multistable oscillators synchronize and demonstrate the high complexity of the…
The maximally-decoupled method has been considered as a theory to apply an basic idea of an integrability condition to certain multiple parametrized symmetries. The method is regarded as a mathematical tool to describe a symmetry of a…